Abstract
Compared with the traditional multi-agent models, the hierarchical leader–follower network (HLFN) can describe some real-world multi-agent systems more precisely due to its layered properties. The distributed event-based consensus control problem of HLFNs with layer-to-layer delays, namely, communication delays among agents of different layers, is presented in this essay. In order to solve the aforementioned problem, several innovative hierarchical event-based control (HEC) algorithms are proposed. The sufficient conditions on the control parameters and event-triggered mechanism were derived to undertake the reliability of the closed-loop dynamics. Moreover, it is shown that the zeno-behaviors of the presented HEC algorithms can be excluded. Finally, there are some numerical examples that verify the availability of the results.
Highlights
In recent years, coordination problems of multi-agent systems (MAS) have attracted research interests, which cover a wide area such as flocking [1,2], formation control [3,4,5], consensus tracking of a robot [6], and rendezvous in distributed robotics [7,8,9]
Birds show a hierarchical structure in the process of migration, and each layer is both a leader layer and follow layer, in addition to the leader of the first layer and the last follow layer, this model is called a hierarchical leader–follower network (HLFN)
The conclusion of this paper is that, based on the three-layer hierarchical structure, agents from the minor leader layer and the follower layer only interacts with the same layer agents and direct leaders, the analysis of three-layer network can be extended to multi-layer hierarchical MAS
Summary
Coordination problems of multi-agent systems (MAS) have attracted research interests, which cover a wide area such as flocking [1,2], formation control [3,4,5], consensus tracking of a robot [6], and rendezvous in distributed robotics [7,8,9]. Energies 2020, 13, 1808 experimental data, it can be found that the pigeons have established a hierarchical leadership structure to interact with each other during the flight, so as to complete the whole long-distance flight mission effectively He and Xu [14] solved the coordination problem of MAS with two-layer leaders. The bipartite consensus problem of multi-agent system with connected structure balanced symbol graph based on event trigger was studied in paper [19]. Yi [20] has investigated the global consensus problem for first-order continuous-time multi-agent systems with input saturation, in which the triggering law does not require any a priori knowledge of global network parameters. Inspired by the preceding discussions, it is desirable to design economical and efficient hierarchical event-based control (HEC) algorithms for consensus problems of HLFNs with layer-to-layer delays.
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